CN110412547B - Target signal identification system based on rotor unmanned aerial vehicle carries equipment and ground equipment - Google Patents
Target signal identification system based on rotor unmanned aerial vehicle carries equipment and ground equipment Download PDFInfo
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Abstract
The invention relates to a target signal identification system based on rotor unmanned aerial vehicle-mounted equipment and ground equipment, belongs to the technical field of communication reconnaissance, and solves the problems that in the prior art, aerial communication reconnaissance equipment is not suitable for long-time reconnaissance, the signal return time is long, the reconnaissance distance of ground communication reconnaissance equipment is short, and the signal processing time is long. The system comprises: the rotor wing unmanned aerial vehicle device is used for receiving an external real-time target signal, identifying the frequency band of the target signal, optimizing the target signal according to the identified frequency band, amplifying the obtained optimized signal, and forwarding the amplified signal to ground equipment as a forwarding signal; and the ground equipment is used for extracting the feature vector of the signaling signal, performing double correlation operation on the obtained feature vector according to the mapping relation between the signal stored in the database and the target feature vector, obtaining the signal type and the carrier target and finishing target signal identification. The system adopts a double correlation operation identification technology, and has high target identification precision and reliability.
Description
Technical Field
The invention relates to the technical field of communication reconnaissance, in particular to a target signal identification system based on rotor wing unmanned aerial vehicle equipment and ground equipment.
Background
The principle of the communication reconnaissance technology is that the communication activity rule of an enemy is obtained through the reconnaissance, identification and analysis of non-cooperative communication signals, the state of an enemy communication system is mastered, and the direction of a target radiation source is determined. The communication reconnaissance equipment can be divided into different loading forms such as a fixed station, a vehicle-mounted loading form, a ship-based loading form and an airborne loading form according to different loading platforms, the working principle of each loading platform is basically the same, and different loading forms are selected according to the task using environment.
At present, aerial communication investigation equipment such as a fixed-wing aircraft has strong maneuverability, but cannot realize long-time investigation on a specific area, and the obtained information has long return time due to a long link. The ground communication reconnaissance equipment is influenced by the loading platform and cannot fully play a role in real-time communication reconnaissance. If fixed station formula or vehicular communication reconnaissance equipment, because the antenna height of this type of loading platform is lower, receives the stadia influence, communication reconnaissance distance is nearer, and environmental factor is more, and signal processing needs longer time.
In summary, it is necessary to solve the problems that the aerial communication investigation equipment is not suitable for long-time investigation, the signal return time is long, the ground communication investigation equipment has a short investigation distance, and the signal processing time is long.
Disclosure of Invention
In view of the foregoing analysis, an embodiment of the present invention is directed to providing a target signal identification system based on a rotor unmanned aerial vehicle and a ground device, so as to solve the problems in the prior art that an aerial communication reconnaissance device is not suitable for long-time reconnaissance, the signal return time is long, the reconnaissance distance of a ground communication reconnaissance device is short, and the signal processing time is long.
In one aspect, an embodiment of the present invention provides a target signal identification system based on a rotor unmanned aerial vehicle and ground equipment, including:
the rotor wing unmanned aerial vehicle device is used for receiving an external real-time target signal, identifying the frequency band of the target signal, carrying out corresponding optimization processing on the target signal according to the identified frequency band, and then amplifying the obtained optimized processing signal to serve as a forwarding signal to be forwarded to ground equipment;
and the ground equipment is used for extracting the characteristic vector of the received forwarding signal, performing double correlation operation on the obtained characteristic vector according to the mapping relation between the signal and the target characteristic vector stored in the database, obtaining the signal type and the carrier target and finishing target signal identification.
The beneficial effects of the above technical scheme are as follows: the rotor unmanned aerial vehicle-mounted equipment can detect external real-time target signals (target signals) with long distance, then the external real-time target signals are optimized through a processor arranged in the rotor unmanned aerial vehicle-mounted equipment, and the obtained weak signals are amplified and transmitted to ground equipment. The method can greatly increase the ground investigation range, and the rotor unmanned aerial vehicle equipment can continuously and uninterruptedly work, so that real and reliable target signals are provided for the ground equipment to identify targets, and finally obtained target identification results are accurate, stable and reliable.
Based on the further improvement of the method, the rotor unmanned aerial vehicle equipment comprises:
the airborne receiving and transmitting antenna is used for receiving an external real-time target signal, transmitting the external real-time target signal to the mode selection module and transmitting a forwarding signal generated by the rotor unmanned airborne equipment to ground equipment;
the mode selection module is used for identifying the frequency band of the target signal, transmitting the target signal to the frequency conversion module firstly and then transmitting the target signal to the same-frequency filtering module to obtain a forwarding signal when the frequency band of the target signal in the identification result and the forwarding frequency band forwarded to the ground equipment belong to the same frequency band, and otherwise, transmitting the target signal to the non-same-frequency filtering module firstly and then transmitting the target signal to the frequency conversion module to obtain the forwarding signal;
the frequency conversion module is used for carrying out frequency conversion on the input signal to obtain an output signal after frequency conversion;
the same-frequency filtering module is used for eliminating the same-frequency signals in the frequency band of the output signals of the frequency conversion module, which are the same as the frequency band of the real-time target signals, by a same-frequency signal counteracting method, and further obtaining optimized processing signals as forwarding signals;
and the non-co-frequency filtering module is used for eliminating the signals which are contained in the target signal and are the same as the forwarding frequency band through a band-pass filtering method of which the passband range covers the target signal frequency band and does not comprise the forwarding frequency band, obtaining optimized processing signals and further transmitting the optimized processing signals to the frequency conversion module to obtain the forwarding signals.
The beneficial effects of the above further improved scheme are: compared with the receiving-forwarding time-sharing work commonly adopted in the prior art, the signal receiving and the signal forwarding in the scheme can work simultaneously, and further continuous reconnaissance processing of the target signal is realized.
Further, the unmanned airborne equipment of rotor still includes:
and the power amplifier control circuit is used for amplifying the power of the forwarding signal as required, stably controlling the power of the obtained power amplified signal to obtain a final forwarding signal, and ensuring that the rotor wing unmanned aerial vehicle-mounted equipment stably outputs the final forwarding signal to ground equipment at set power.
The beneficial effects of the above further improved scheme are: the forwarding signal can be transmitted to the ground receiving equipment with larger and stable power, so that the ground equipment can better receive the forwarding signal, the interception probability of the forwarding signal is improved, and the subsequent signal identification work is facilitated.
Further, the power amplifier control circuit comprises a forward path and a feedback path; the forward path comprises a numerical control attenuator, a power amplifier and a coupler which are connected in sequence; the feedback path comprises a feedback controller; the output end I of the coupler is used as the output of the power amplifier control circuit, and the feedback signal output by the output end II of the coupler is transmitted to the control end of the numerical control attenuator through the feedback controller:
the numerical control attenuator is used for performing gain attenuation or amplification on the input optimized processing signal according to a control instruction sent by the feedback controller, and transmitting the obtained gain attenuated or amplified signal to the power amplifier;
the power amplifier is used for performing power amplification on the input gain-attenuated or amplified signal according to the requirement and transmitting the power-amplified signal to the coupler;
the coupler is used for dividing the power amplified signal into two paths according to a preset power distribution proportion, wherein one path is used as the output of the power amplifier control circuit, and the other path is used as a feedback signal of the power amplifier control circuit and is transmitted to the feedback controller;
and the feedback controller is used for detecting the input feedback signal, comparing the detection result with the threshold requirement, controlling the input optimized processing signal to perform corresponding gain attenuation or amplification through the numerical control attenuator when the detection result does not meet the threshold requirement, and detecting again until the detection result meets the threshold requirement.
The beneficial effects of the above further improved scheme are: through the setting of the threshold value, the power amplifier can be ensured to stably output power within the range of the threshold value, the stability degree of the system is enhanced, and the reconnaissance processing efficiency of the system is improved.
Further, the feedback controller further comprises a detector and an ARM control chip which are connected in sequence;
the detector is used for carrying out root mean square detection on the input feedback signal to obtain a signal amplitude which is used as a detection result and transmitted to the ARM control chip;
and the ARM control chip is used for comparing the obtained detection result with the set upper and lower threshold limits, controlling the amplitude of the optimized processing signal to be reduced through the numerical control attenuator when the detection result is higher than the upper threshold limit, controlling the amplitude of the optimized processing signal to be increased through the numerical control attenuator when the detection result is lower than the lower threshold limit, and performing gain attenuation or amplification and detection again until the detection result is between the upper and lower threshold limits.
The beneficial effects of the above further improved scheme are: the final forwarding signal is stably output at the set power, so that high-stability input can be provided for receiving, processing and identifying subsequent ground equipment, an identification result is accurate and reliable, and user experience is improved.
Further, the same-frequency filtering module executes the following program to obtain an optimized processing signal:
sampling historical forwarding signals, and extracting sampling signals related to characteristics of the forwarding signals;
adjusting the amplitude and the phase of the sampling signal to obtain an adjusted signal which has the same amplitude and the opposite phase with the current forwarding signal;
combining the adjusted signal with the real-time target signal to obtain a same-frequency signal which is contained in the adjusted signal and has the same frequency band as the real-time target signal;
and eliminating the same frequency signal which is contained in the current forwarding frequency band and is the same as the real-time target signal frequency band according to the same frequency signal, thereby obtaining an optimized processing signal.
The beneficial effects of the above further improved scheme are: when the forwarding frequency band (forwarding signal) and the interception frequency band (target signal) are in the same frequency band, the same-frequency signal cancellation method is adopted, so that the simultaneous and continuous work of signal receiving and signal forwarding can be realized, and the reconnaissance efficiency of the system is enhanced.
Further, the surface device includes:
the characteristic signal extraction module is used for segmenting the received forwarding signal, extracting a characteristic vector of each acquired small segment of signal respectively to acquire a multi-dimensional characteristic vector comprising the conventional characteristic and the fine characteristic of the target signal, and transmitting the multi-dimensional characteristic vector to the normalization preprocessing module; in each line, the elements containing the conventional characteristics of the target signal comprise at least one of power and duration, and the elements containing the fine characteristics of the target signal comprise at least one of modulation mode, code rate, duty ratio and pulse width;
the normalization preprocessing module is used for performing normalization processing on the multi-dimensional characteristic vector to obtain a normalized characteristic vector and transmitting the normalized characteristic vector to the dual real-time correlation operation module;
the double real-time correlation operation module is used for carrying out double correlation operation on the obtained normalized eigenvector according to the mapping relation between the signal stored in the database and the target eigenvector to obtain a first double correlation operation output and a second double correlation operation output and transmitting the first double correlation operation output and the second double correlation operation output to the target identification module;
and the target identification module is used for comparing the first re-correlation operation output and the second re-correlation operation output with the signal characteristic vector and the target characteristic vector in the database respectively to obtain the signal type to be identified and the carrier target.
The beneficial effects of the above further improved scheme are: and extracting the characteristic vector of the received final forwarding signal to obtain a multi-dimensional characteristic vector comprising the conventional characteristic and the fine characteristic of the target signal. And then, carrying out double correlation operation according to the multi-dimensional characteristic vector to obtain a real signal type and a carrier target. A large number of experiments prove that the identification efficiency and the identification accuracy are very high.
The dual real-time correlation operation module further comprises:
a first heavy correlation operation sub-module, configured to obtain the normalized eigenvector X ═ X1,x2,…,xnCarrying out first heavy correlation operation by the following formula to obtain a first heavy correlation operation output zj
In the formula, thetajRepresents a predetermined threshold of one, wijRepresenting the weight of the first heavy correlation operation, and f () representing the mapping relation between the signal in the database and the target characteristic vector;
a second re-correlation sub-module for outputting z according to the first re-correlationjPerforming a second decorrelation operation by the following formula to obtain a second decorrelation operation output yk
In the formula, thetakRepresents a preset threshold value of two, wjkRepresenting the weight of the second re-correlation operation.
The beneficial effects of the above further improved scheme are: obtaining a correlation value z representing the mapping relation between the feature vector of the target signal and the target feature vector in the database through double correlation operationj、ykAs input data for further identification of the signal type and the carrier object.
Further, the object recognition module further comprises:
signalA type identification submodule for outputting the first heavy correlation operation zjAnd the signal feature vector Z in the database is { Z ═ Z1,z2,…,zmComparing each element, and judging the type corresponding to the same element as the signal type to be identified;
a carrier target identification submodule for outputting the second re-correlation operation ykAnd the target feature vector Y in the database is equal to { Y ═ Y1,y2,…,ysComparing each element to obtain the carrier target corresponding to the same element as the carrier target to be identified.
The beneficial effects of the above further improved scheme are: according to the correlation value zj、ykAnd comparing the signal type of the target signal with the signal and the target characteristic vector in the database to obtain the signal type and the carrier target of the target signal.
Further, when the received external real-time target signal frequency spectrum interference is large, the distance between the rotor wing unmanned aerial vehicle equipment and ground equipment cannot exceed 2km, and the signal level received by the rotor wing unmanned aerial vehicle equipment cannot exceed-65 dBm;
when the frequency spectrum interference of the received external real-time target signal is small, the distance between the rotor wing unmanned airborne equipment and the ground equipment is not more than 10km, and the level of the external real-time target signal received by the rotor wing unmanned airborne equipment is not more than-75 dBm;
the forwarding frequency band adopts at least one of S section and C section.
The beneficial effects of the above further improved scheme are: a large number of experiments prove that when the above setting is met, the recognition efficiency is high, and the actual requirements are fully met. The forwarding frequency band adopts at least one of S section and C section, which can be used as backup means, when one frequency band is interfered, at least another frequency band can be used, and the system can work normally.
In the invention, the technical schemes can be combined with each other to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, wherein like reference numerals are used to designate like parts throughout.
Fig. 1 is a schematic diagram of a target signal identification system based on a rotor unmanned aerial vehicle-mounted device and a ground device according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of the components of a rotor wing unmanned aerial vehicle according to embodiment 2 of the invention;
fig. 3 is a schematic diagram of the power amplifier control circuit according to embodiment 2 of the present invention;
fig. 4 is a schematic diagram of the composition of the ground equipment in embodiment 2 of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
In one embodiment of the present invention, a target signal identification system based on a rotor unmanned aerial vehicle and a ground device is disclosed, as shown in fig. 1, including a rotor unmanned aerial vehicle and a ground device. The unmanned airborne equipment of rotor can reach near the target overhead, transmits the real-time target signal transmission in outside that the other side sent to ground equipment through wiFi.
The rotor wing unmanned aerial vehicle carries equipment, is used for receiving outside real-time target signal, is right the frequency channel of target signal discerns, carries out corresponding optimization to target signal according to discernment frequency channel, then with the optimization signal who obtains after enlargiing as the signal of forwardding and forward ground equipment.
And the ground equipment is used for extracting the characteristic vector of the received forwarding signal, performing double correlation operation on the obtained characteristic vector according to the mapping relation between the signal and the target characteristic vector stored in the database, obtaining the signal type and the carrier target and finishing target signal identification.
When the system is implemented, the rotor unmanned aerial vehicle carries out receiving, optimizing processing, amplifying and forwarding on an external real-time target signal (target signal) to ground equipment, and then the ground equipment identifies the signal to be forwarded, so that signal types and carrier target information are obtained, and information support is provided for relevant units to judge the threat level of the target.
Compared with the prior art, the system provided by the embodiment can detect the external real-time target signal with a longer distance through the rotor unmanned aerial vehicle-mounted equipment, then the external real-time target signal is optimized through the built-in processor, and the obtained weak signal is amplified and forwarded to the ground equipment. The ground investigation range can be greatly increased by the arrangement, the rotor unmanned aerial vehicle-mounted equipment can continuously and uninterruptedly work, real and reliable target signals are provided for the ground equipment to identify targets, and finally obtained target identification results are accurate, stable and reliable.
Example 2
The improvement is made on the basis of embodiment 1, and firstly, a rotor unmanned aerial vehicle-mounted device is introduced, which includes a vehicle-mounted transceiver antenna, a mode selection module, a same-frequency filtering module, a non-same-frequency filtering module, and a frequency conversion module, as shown in fig. 2. The output end of the airborne receiving antenna is connected with the input end of the mode selection module, the first output end of the mode selection module is connected with the input end of the airborne receiving and transmitting antenna through the first frequency conversion module and the same-frequency filtering module in sequence, and the second output end of the mode selection module is connected with the input end of the airborne receiving and transmitting antenna through the second non-same-frequency filtering module and the second frequency conversion module in sequence.
And the airborne receiving and transmitting antenna is used for receiving an external real-time target signal, transmitting the external real-time target signal to the mode selection module and transmitting a forwarding signal generated by the unmanned rotor airborne equipment to ground equipment.
And the mode selection module is used for identifying the frequency band of the target signal, transmitting the target signal to the frequency conversion module firstly and then transmitting the target signal to the same-frequency filtering module to obtain a forwarding signal when the frequency band of the target signal in the identification result and the forwarding frequency band forwarded to the ground equipment belong to the same frequency band, and otherwise, transmitting the target signal to the non-same-frequency filtering module firstly and then transmitting the target signal to the frequency conversion module to obtain the forwarding signal. Optionally, the forwarding frequency band may be at least one of S-segment and C-segment.
And the frequency conversion module is used for carrying out frequency conversion on the input signal to obtain an output signal after frequency conversion.
Because the frequency band of the input signal is limited by the receiving frequency band of the airborne receiving and transmitting antenna, the frequency band of the output signal after frequency conversion is limited by the receivable frequency band of the ground equipment, and even if the frequency bands belong to the same frequency band, the frequency bands of the input signal and the frequency bands of the output signal may not be consistent. Therefore, the frequency conversion module is set to be the first frequency conversion module and the second frequency conversion module, the frequency conversion coefficients of the two frequency conversion modules are different, and the respective frequency conversion coefficients are set according to actual requirements. Optionally, the frequency conversion module I and the frequency conversion module II are also arranged into one. At the moment, the mode selection module, the non-co-frequency filtering module, the frequency conversion module and the co-frequency filtering module are sequentially connected, and the co-frequency filtering module and the non-co-frequency filtering module are provided with parallel switches. When the same frequency band is judged, the parallel switch of the same-frequency filtering module is turned on, the parallel switch of the non-same-frequency filtering module is turned off, the target signal is transmitted to the frequency conversion module firstly and then transmitted to the same-frequency filtering module to obtain the forwarding signal, when the different frequency bands are judged, the parallel switch of the same-frequency filtering module is turned off, the parallel switch of the non-same-frequency filtering module is turned on, and the target signal is transmitted to the non-same-frequency filtering module firstly and then transmitted to the frequency conversion module to obtain the forwarding signal.
And the same-frequency filtering module is used for eliminating the same-frequency signals in the frequency band of the output signals of the frequency conversion module, which are the same as the frequency band of the real-time target signals, by a same-frequency signal cancellation method, so as to obtain optimized processing signals as forwarding signals.
And the non-co-frequency filtering module is used for eliminating the signals which are contained in the target signal and are the same as the forwarding frequency band through a band-pass filtering method of which the passband range covers the target signal frequency band and does not comprise the forwarding frequency band, obtaining optimized processing signals and further transmitting the optimized processing signals to the frequency conversion module to obtain the forwarding signals.
The same-frequency filtering module executes the following program to obtain an optimized processing signal:
s131, sampling historical forwarding signals, and extracting sampling signals related to characteristics of the forwarding signals; correlating with the characteristics of the forwarded signal means that the forwarded signal contains all the characteristic details of the forwarded signal, which can be used for subsequent object identification.
And S132, adjusting the amplitude and the phase of the sampling signal to obtain an adjusted signal which has the same amplitude and the opposite phase with the current forwarding signal.
S133, combining the adjusted signal with the real-time target signal to obtain the adjusted signal which contains the same-frequency signal with the real-time target signal;
and S134, eliminating the same frequency signal which is contained in the current forwarding frequency band and is the same as the real-time target signal frequency band according to the same frequency signal, and further obtaining an optimized processing signal.
Under the same-frequency filtering mode, a large number of experiments prove that the influence of the forwarding signal on the received signal (external real-time target signal) can be effectively reduced to the minimum through the steps S131 to S134.
Preferably, in the non-co-frequency filtering mode, the frequency band of the target signal is far enough from the forwarding frequency band forwarded to the ground device. The frequency band is monitored and received and the frequency band is retransmitted and the frequency band is not coincident and not influenced by harmonic wave, the retransmission signal is restrained through band-pass filtering, and the influence of the retransmission signal on the receiving end of the rotor wing unmanned aerial vehicle is reduced to the minimum.
For two different modes (same-frequency filtering and non-same-frequency filtering), different optimization processes (a same-frequency signal cancellation method and a band-pass filtering method) are respectively adopted to cancel interference caused by the forwarding signal of the rotor wing unmanned aerial vehicle-mounted equipment to the receiving frequency band of the receiving signal.
In general, the received signal is very weak and needs to be amplified and then forwarded.
Preferably, the rotor unmanned aerial vehicle carries equipment still includes power amplifier control circuit, power amplifier control circuit input is connected with same frequency filtering module, non-same frequency filtering module output respectively.
And the power amplifier control circuit is used for amplifying the power of the forwarding signal as required, stably controlling the power of the obtained power amplified signal to obtain a final forwarding signal, and ensuring that the rotor wing unmanned aerial vehicle-mounted equipment stably outputs the final forwarding signal to ground equipment at set power.
Preferably, as shown in fig. 3, the power amplifier control circuit includes a forward path and a feedback path; the forward path comprises a numerical control attenuator, a power amplifier and a coupler which are connected in sequence; the feedback path comprises a feedback controller; the output end I of the coupler is used as the output of the power amplifier control circuit, and the feedback signal output by the output end II of the coupler is transmitted to the control end of the numerical control attenuator through the feedback controller.
And the numerical control attenuator is used for carrying out automatic gain control (gain attenuation or amplification) on the input optimized processing signal according to a control instruction sent by the feedback controller, and transmitting the obtained gain attenuated or amplified signal to the power amplifier.
And the power amplifier is used for performing power amplification on the input gain-attenuated or amplified signal according to the requirement and transmitting the power-amplified signal to the coupler.
And the coupler is used for dividing the power amplified signal into two paths according to a preset power distribution proportion, wherein one path is used as the output of the power amplifier control circuit, and the other path is used as a feedback signal of the power amplifier control circuit and is transmitted to the feedback controller.
And the feedback controller is used for detecting the input feedback signal, comparing the detection result with the threshold requirement, controlling the input optimized processing signal to perform corresponding gain attenuation or amplification through the numerical control attenuator when the detection result does not meet the threshold requirement, and detecting again until the detection result meets the threshold requirement.
Preferably, the feedback controller further comprises a detector and an ARM control chip which are connected in sequence.
And the detector is used for carrying out root mean square detection on the input feedback signal to obtain a signal amplitude and transmitting the signal amplitude as a detection result to the ARM control chip. The root mean square value can truly reflect the average value of the signal characteristics.
And the ARM control chip is used for comparing the obtained detection result with the set upper limit and the lower limit of the threshold, controlling the amplitude of the optimized processing signal to be reduced through the numerical control attenuator when the detection result is higher than the upper limit of the threshold, controlling the amplitude of the optimized processing signal to be increased through the numerical control attenuator when the detection result is lower than the lower limit of the threshold, and performing gain attenuation or amplification and detection again until the detection result is between the upper limit and the lower limit of the threshold.
The surface installation is described next.
The ground equipment comprises a characteristic signal extraction module, a normalization preprocessing module, a double real-time correlation operation module and a target identification module which are connected in sequence, and is shown in figure 4. Specifically, the modules are programmed to realize respective functions.
The characteristic signal extraction module is used for segmenting the received forwarding signal, extracting a characteristic vector of each acquired small segment of signal respectively to acquire a multi-dimensional characteristic vector comprising the conventional characteristic and the fine characteristic of the target signal, and transmitting the multi-dimensional characteristic vector to the normalization preprocessing module; in each line, the elements containing the regular characteristics of the target signal comprise at least one of power and duration, and the elements containing the fine characteristics of the target signal comprise at least one of modulation mode, code rate, duty ratio and pulse width.
Unlike the current laboratory analysis mode commonly used for signal recognition, the method used in the present embodiment involves the extraction and recognition of the conventional features and the fine features of the signal. Dividing the forwarding signal into l segments in the frequency domain, performing k feature extractions on each segment, and establishing l rows and k columns of multi-dimensional feature vectors of the interception signal. The feature vector construction method can characterize the same signal on multiple dimensions, so that the characterization is more effective, and the subsequent identification processing is facilitated.
Specifically, the established l rows and k columns of multidimensional feature vectors of the forwarded signals are as follows:
and the normalization preprocessing module is used for performing normalization processing on the multi-dimensional characteristic vector to obtain a normalized characteristic vector and transmitting the normalized characteristic vector to the dual real-time correlation operation module.
And the double real-time correlation operation module is used for carrying out double correlation operation on the obtained normalized eigenvector according to the mapping relation between the signal stored in the database and the target eigenvector, obtaining a first double correlation operation output and a second double correlation operation output and transmitting the first double correlation operation output and the second double correlation operation output to the target identification module.
And the target identification module is used for comparing the first re-correlation operation output and the second re-correlation operation output with the signal characteristic vector and the target characteristic vector in the database respectively to obtain the signal type to be identified and the carrier target.
The double real-time correlation operation module further comprises a first double correlation operation sub-module and a second double correlation operation sub-module.
A first heavy correlation operation module, configured to obtain the normalized eigenvector X ═ X1,x2,…,xnCarrying out first heavy correlation operation by the following formula to obtain a first heavy correlation operation output zj
In the formula, thetajRepresents a predetermined threshold of one, wijRepresenting the weight of the first heavy correlation operation, and f () representing the mapping between the signal in the database and the target feature vector.
The method for acquiring the f () includes the steps of collecting various types of signals from an actual environment in advance, establishing a target feature vector (l rows and k columns of multi-dimensional feature vectors), and further establishing a mapping relation between the signals and the target feature vector through a large number of tests. As will be appreciated by those skilled in the art.
A second re-correlation operation module for outputting z according to the first re-correlation operationjPerforming a second decorrelation operation by the following formula to obtain a second decorrelation operation output yk
In the formula, thetakRepresents a preset threshold value of two, wjkRepresenting the weight of the second re-correlation operation.
Preferably, the object recognition module further comprises a signal type recognition sub-module and a carrier object recognition sub-module.
A signal type identification submodule for outputting a first re-correlation operation zjAnd the signal feature vector Z in the database is { Z ═ Z1,z2,…,zmComparing each element, and judging the type corresponding to the same element as the signal type to be identified.
A carrier target identification submodule for outputting the second re-correlation operation ykAnd the target feature vector Y in the database is equal to { Y ═ Y1,y2,…,ysComparing each element to obtain the carrier target corresponding to the same element as the carrier target to be identified.
Preferably, when the spectrum interference of the received external real-time target signal is large, the distance between the rotor-wing unmanned aerial vehicle equipment and the ground equipment is not more than 2km, and the signal level received by the rotor-wing unmanned aerial vehicle equipment is not more than-65 dBm. At this point the spectral shift signal-to-noise ratio degradation can be tolerated.
Preferably, when the spectrum interference of the received external real-time target signal is small, the distance between the rotor-wing unmanned aerial vehicle-mounted equipment and the ground equipment is not more than 10km, and the level of the external real-time target signal received by the rotor-wing unmanned aerial vehicle-mounted equipment is not more than-75 dBm. At this point the spectral shift signal-to-noise ratio degradation can be tolerated.
Preferably, distortion-free (unsaturated) forwarding is achieved when the level received by the rotorcraft is below-53 dBm.
Compared with the embodiment 1, the system provided by the embodiment extracts and constructs the multidimensional characteristic vector of the forwarding signal, and performs double correlation calculation on the multidimensional characteristic vector and the mapping relation between the signal and the target characteristic vector in the database, so as to finally obtain the identification result (the signal type and the carrier target) of the intercepted signal. The signal type and the carrier target provided by the embodiment can support relevant units to judge the threat level of the target, and have great practical use significance.
Example 3
The invention also provides a target signal identification method using the system of embodiment 3, which comprises the following steps: the method comprises the following steps:
s1, receiving an external real-time target signal by a rotor wing unmanned aerial vehicle device, identifying the frequency band of the target signal, carrying out corresponding optimization processing on the target signal according to the identified frequency band, amplifying the obtained optimized signal, and forwarding the amplified signal to ground equipment as a forwarding signal;
and S2, the ground equipment extracts the characteristic vector of the received forwarding signal, and performs double correlation operation on the obtained characteristic vector according to the mapping relation between the signal stored in the database and the target characteristic vector to obtain the signal type and the carrier target so as to finish target signal identification.
Optionally, the signal type is a Frequency Modulated (FM) ultra short wave communication signal, a data link signal, or an identification of friend or foe (IFF) signal. The carrier target is a civil aircraft, a military fighter plane or a transport plane.
During implementation, the rotor unmanned aerial vehicle carries out receiving, optimizing processing, amplifying and forwarding on an external real-time target signal (target signal) to ground equipment, and then the ground equipment identifies the forwarded signal (the amplified optimizing processing signal) to obtain signal types and carrier target information and provide information support for relevant units to judge the threat level of the target.
Example 4
The improvement is made on the basis of the system described in embodiment 3, and the invention also discloses a target signal identification method for the system described in embodiment 4, wherein in step S1, the identification of the frequency band of the target signal further comprises the following steps:
s11, transforming an external real-time target signal from a time threshold to a frequency domain by a fast Fourier transform method;
and S12, identifying the frequency band of the external real-time target signal through the obtained frequency domain result.
Preferably, in step S1, the optimizing process is performed on the target signal according to the identified frequency band, and the method further includes the following steps (two modes):
s13, in the first mode, when the frequency band of the target signal and the forwarding frequency band forwarded to the ground equipment belong to the same frequency band, firstly carrying out frequency conversion on the target signal to obtain a frequency band signal to be forwarded, then eliminating the same frequency signal which is contained in the frequency band signal to be forwarded and has the same frequency band as the frequency band of the target signal by adopting a same frequency signal cancellation method, and further obtaining an optimized processing signal.
And S14, in the second mode, when the frequency band of the target signal and the forwarding frequency band forwarded to the ground equipment belong to different frequency bands, eliminating the signal which is contained in the target signal and is the same as the forwarding frequency band by a band-pass filtering method of covering the frequency band of the target signal in a pass band range and not including the forwarding frequency band, and inhibiting the forwarding signal so as to obtain an optimized processing signal.
It should be noted that the frequency band of the input signal is limited by the receiving frequency band of the airborne transceiving antenna, the frequency band of the output signal after frequency conversion is limited by the receivable frequency band of the ground equipment, and even if the frequency bands belong to the same frequency band, the frequency bands may not be consistent, so frequency conversion is generally required.
In the two modes, different optimization processes (the same-frequency signal cancellation method in step S13 and the band-pass filtering method in step S14) are respectively adopted to cancel interference caused by the forwarding signal of the rotor unmanned aerial vehicle-mounted device to the received signal in the receiving frequency band.
Preferably, in the second mode of step S14, the frequency band of the target signal is far enough away from the forwarding frequency band for forwarding to the ground device, that is, the detecting frequency band and the forwarding frequency band are not overlapped with each other and are not affected by harmonic wave, and the influence of the forwarding signal on the receiving end of the unmanned aerial vehicle-mounted device of the rotor wing is minimized by suppressing the forwarding signal through band-pass filtering.
Preferably, in the step S13, the same-frequency signal cancellation method may be further refined as the following steps:
s131, sampling historical forwarding signals, and extracting sampling signals related to characteristics of the forwarding signals; correlating with the characteristics of the forwarded signal means that the forwarded signal contains all the characteristic details of the forwarded signal, which can be used for subsequent object identification.
S132, adjusting the amplitude and the phase of the sampling signal to obtain an adjusted signal which has the same amplitude and the opposite phase with the current forwarding signal;
s133, combining the adjusted signal with the target signal to obtain an adjusted signal containing a same-frequency signal with the target signal frequency band;
and S134, eliminating the same-frequency signals which are contained in the frequency band signals to be forwarded and have the same frequency band as the target signal frequency band according to the same-frequency signals, and further obtaining optimized processing signals.
A large number of experiments prove that the influence of the forwarding signal on the received signal (external real-time target signal) can be effectively reduced to the minimum through the steps S131 to S134.
In general, the received signal is very weak and needs to be amplified and then forwarded.
Preferably, in step S1, the amplifying and forwarding the obtained optimized processing signal to the ground device further includes the following steps:
s15, amplifying the power of the optimized processing signal as required;
and S16, performing power control on the signal after power amplification to obtain a forwarding signal with set power, and ensuring that the forwarding signal is stably output to ground equipment at the set power.
Preferably, in step S16, the power control of the power-amplified signal further includes:
s161, collecting a sample signal of the signal after power amplification;
s162, carrying out root mean square detection on the sample signal;
and S163, comparing the obtained detection result with the set upper and lower threshold limits, controlling the amplitude of the optimized processing signal to be reduced when the detection result is higher than the upper threshold limit, performing power amplification and detection again, controlling the amplitude of the optimized processing signal to be increased when the detection result is lower than the lower threshold limit, performing power amplification and detection again until the detection result is between the upper and lower threshold limits.
The amplified optimized processing signal is stably output at the set power, so that high-stability input can be provided for subsequent ground equipment receiving, processing and identifying, and the identification result is accurate and reliable.
Next, in step S2, real-time target recognition is performed by the ground device, and unlike the laboratory analysis mode commonly used in current signal recognition, the recognition method of the ground device of the present embodiment involves extraction and recognition of the conventional features and the fine features of the signal. As further described below.
Preferably, step S2 may extract the feature vector by:
and S21, segmenting the received forwarding signal (i segments), and extracting the feature vector of each obtained segment of the signal respectively. Each feature vector includes k features.
The features comprise regular features and fine features of the target signal. The conventional characteristics of the target signal comprise power magnitude, duration and the like, and the fine characteristics of the target signal comprise a modulation mode, a code rate, a duty ratio, a pulse width and the like.
S22, establishing a multi-dimensional characteristic vector of l rows and k columns of the target signal (also called a forwarding signal and a current interception signal), wherein the multi-dimensional characteristic vector is expressed by the following formula:
in the formula, each row represents a small segment of feature vector of the signal obtained by segmentation, which is respectively power magnitude, duration, modulation mode, code rate, duty ratio, pulse width, and the like.
The feature vector construction method can characterize the same signal on multiple dimensions, so that the characterization is more effective, and the subsequent identification processing is facilitated.
Preferably, in step S2, the performing a double correlation operation on the feature vector according to the mapping relationship between the extracted signal in the database and the target feature vector further includes the following steps:
s23, normalizing the feature vector to obtain a normalization result X ═ X1,x2,…,xn}；
S24, according to the normalization result X, carrying out first heavy correlation operation through the following formula to obtain a first heavy correlation operation output zj
In the formula, thetajRepresents a predetermined threshold of one, wijRepresenting the weight of the first heavy correlation operation, and f () representing the mapping between the signal in the database and the target feature vector.
The method for obtaining the f () includes collecting various types of signals from an actual environment in advance, establishing a target feature vector (l rows and k columns of multi-dimensional feature vectors), and further establishing a mapping relation between the signal feature vector and the target feature vector through a large number of tests. As will be appreciated by those skilled in the art.
S25, outputting z according to the first heavy correlation operationjPerforming a second decorrelation operation by the following formula to obtain a second decorrelation operation output yk
In the formula, thetakRepresents a preset threshold value of two, wjkRepresenting the weight of the second re-correlation operation.
Preferably, in step S2, the obtaining the signal type and the carrier object includes the following steps:
s26, outputting z by the first heavy correlation operationjAnd the signal feature vector Z in the database is { Z ═ Z1,z2,…,zmComparing each element, judging the same element pairThe corresponding type is the type of the signal to be identified;
s27, outputting y by the second decorrelation operationkAnd the target feature vector Y in the database is equal to { Y ═ Y1,y2,…,ysComparing each element to obtain the carrier target corresponding to the same element as the carrier target to be identified.
Preferably, the method further comprises the steps of:
s28, calculating the target signal identification correct probability e of the double correlation operation through the following formula
In the formula, ykAnd m represents the number of elements of the signal feature vector in the database.
And S29, comparing the obtained e with a target identification reference value, judging that the identification result is correct if the e is greater than or equal to the target identification reference value, outputting the signal type and the carrier target, otherwise, judging that the identification result is wrong, rejecting the identification result, collecting data again, and re-identifying.
Preferably, when the spectrum interference of the received external real-time target signal is large, the distance between the unmanned aerial vehicle-mounted equipment of the rotor wing and the ground equipment is not more than 2km, the received level of the unmanned aerial vehicle-mounted equipment of the rotor wing is not more than-65 dBm, and the signal-to-noise ratio degradation of the spectrum shift can be borne. When the spectrum interference of the received external real-time target signal is small, the distance between the rotor wing unmanned airborne equipment and the ground equipment is not more than 10km, the level of the external real-time target signal received by the rotor wing unmanned airborne equipment is not more than-75 dBm, and the signal-to-noise ratio degradation of the spectrum shifting can be borne. And when the level received by the rotor unmanned aerial vehicle equipment is lower than-53 dBm, distortion-free (unsaturated) forwarding can be realized.
Preferably, the forwarding frequency band adopts at least one of an S-segment and a C-segment.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (9)
1. A target signal identification system based on rotor unmanned aerial vehicle carries equipment and ground equipment, its characterized in that includes:
the rotor wing unmanned aerial vehicle device is used for receiving an external real-time target signal, identifying the frequency band of the target signal, carrying out corresponding optimization processing on the target signal according to the identified frequency band, and then amplifying the obtained optimized processing signal to serve as a forwarding signal to be forwarded to ground equipment;
the ground equipment is used for extracting the characteristic vector of the received forwarding signal, performing double correlation operation on the obtained characteristic vector according to the mapping relation between the signal stored in the database and the target characteristic vector to obtain the signal type and the carrier target and finish target signal identification;
further, the surface device includes:
the characteristic signal extraction module is used for segmenting the received forwarding signal, extracting a characteristic vector of each acquired small segment of signal respectively to acquire a multi-dimensional characteristic vector comprising the conventional characteristic and the fine characteristic of the target signal, and transmitting the multi-dimensional characteristic vector to the normalization preprocessing module; in the multi-dimensional feature vector, each line represents a feature vector of a small segment of signal obtained by segmentation, in each line, elements containing conventional features of a target signal comprise at least one of power and duration, and elements containing fine features of the target signal comprise at least one of modulation mode, code rate, duty ratio and pulse width;
the normalization preprocessing module is used for performing normalization processing on the multi-dimensional characteristic vector to obtain a normalized characteristic vector and transmitting the normalized characteristic vector to the dual real-time correlation operation module;
the double real-time correlation operation module is used for carrying out double correlation operation on the obtained normalized eigenvector according to the mapping relation between the signal stored in the database and the target eigenvector to obtain a first double correlation operation output and a second double correlation operation output and transmitting the first double correlation operation output and the second double correlation operation output to the target identification module;
and the target identification module is used for comparing the first re-correlation operation output and the second re-correlation operation output with the signal characteristic vector and the target characteristic vector in the database respectively to obtain the signal type to be identified and the carrier target.
2. The system according to claim 1, wherein said rotor drone aircraft includes:
the airborne receiving and transmitting antenna is used for receiving an external real-time target signal, transmitting the external real-time target signal to the mode selection module and transmitting a forwarding signal generated by the rotor unmanned airborne equipment to ground equipment;
the mode selection module is used for identifying the frequency band of the target signal, transmitting the target signal to the frequency conversion module firstly and then transmitting the target signal to the same-frequency filtering module to obtain a forwarding signal when the frequency band of the target signal in the identification result and the forwarding frequency band forwarded to the ground equipment belong to the same frequency band, and otherwise, transmitting the target signal to the non-same-frequency filtering module firstly and then transmitting the target signal to the frequency conversion module to obtain the forwarding signal;
the frequency conversion module is used for carrying out frequency conversion on the input signal to obtain an output signal after frequency conversion;
the same-frequency filtering module is used for eliminating the same-frequency signals in the frequency band of the output signals of the frequency conversion module, which are the same as the frequency band of the real-time target signals, by a same-frequency signal counteracting method, and further obtaining optimized processing signals as forwarding signals;
and the non-co-frequency filtering module is used for eliminating the signals which are contained in the target signal and are the same as the forwarding frequency band through a band-pass filtering method of which the passband range covers the target signal frequency band and does not comprise the forwarding frequency band, obtaining optimized processing signals and further transmitting the optimized processing signals to the frequency conversion module to obtain the forwarding signals.
3. The system for identifying a target signal based on a rotor drone aircraft and ground equipment according to claim 1 or 2, characterized in that the rotor drone aircraft further comprises:
and the power amplifier control circuit is used for amplifying the power of the forwarding signal as required, stably controlling the power of the obtained power amplified signal to obtain a final forwarding signal, and ensuring that the rotor wing unmanned aerial vehicle-mounted equipment stably outputs the final forwarding signal to ground equipment at set power.
4. The system of claim 3, wherein the power amplifier control circuitry comprises a forward path and a feedback path; the forward path comprises a numerical control attenuator, a power amplifier and a coupler which are connected in sequence; the feedback path comprises a feedback controller; the output end I of the coupler is used as the output of the power amplifier control circuit, and the feedback signal output by the output end II of the coupler is transmitted to the control end of the numerical control attenuator through the feedback controller;
the numerical control attenuator is used for performing gain attenuation or amplification on the input optimized processing signal according to a control instruction sent by the feedback controller, and transmitting the obtained gain attenuated or amplified signal to the power amplifier;
the power amplifier is used for performing power amplification on the input gain-attenuated or amplified signal according to the requirement and transmitting the power-amplified signal to the coupler;
the coupler is used for dividing the power amplified signal into two paths according to a preset power distribution proportion, wherein one path is used as the output of the power amplifier control circuit, and the other path is used as a feedback signal of the power amplifier control circuit and is transmitted to the feedback controller;
and the feedback controller is used for detecting the input feedback signal, comparing the detection result with the threshold requirement, controlling the input optimized processing signal to perform corresponding gain attenuation or amplification through the numerical control attenuator when the detection result does not meet the threshold requirement, and detecting again until the detection result meets the threshold requirement.
5. The system of claim 4, wherein the feedback controller further comprises a geophone and an ARM control chip connected in series;
the detector is used for carrying out root mean square detection on the input feedback signal to obtain a signal amplitude which is used as a detection result and transmitted to the ARM control chip;
and the ARM control chip is used for comparing the obtained detection result with the set upper and lower threshold limits, controlling the amplitude of the optimized processing signal to be reduced through the numerical control attenuator when the detection result is higher than the upper threshold limit, controlling the amplitude of the optimized processing signal to be increased through the numerical control attenuator when the detection result is lower than the lower threshold limit, and performing gain attenuation or amplification and detection again until the detection result is between the upper and lower threshold limits.
6. The system for identifying the target signal based on the unmanned aerial vehicle equipped with rotary wings and the ground equipment according to claim 2, wherein the same-frequency filtering module executes the following procedures to obtain the optimized processing signal:
sampling historical forwarding signals, and extracting sampling signals related to characteristics of the forwarding signals;
adjusting the amplitude and the phase of the sampling signal to obtain an adjusted signal which has the same amplitude and the opposite phase with the current forwarding signal;
combining the adjusted signal and the real-time target signal to obtain a same-frequency signal which is contained in the adjusted signal and has the same frequency band as the real-time target signal;
and eliminating the same frequency signal which is contained in the current forwarding frequency band and is the same as the real-time target signal frequency band according to the same frequency signal, thereby obtaining an optimized processing signal.
7. The system for identifying a target signal based on a rotor drone aircraft and ground equipment according to any one of claims 1-2, 5-6, wherein said dual real-time correlation module further comprises:
a first heavy correlation operation sub-module, configured to obtain the normalized eigenvector X ═ X1,x2,…,xnCarrying out first heavy correlation operation by the following formula to obtain a first heavy correlation operation output zj
In the formula, thetajRepresents a predetermined threshold of one, wijRepresenting the weight of the first heavy correlation operation, and f () representing the mapping relation between the signal in the database and the target characteristic vector;
a second re-correlation sub-module for outputting z according to the first re-correlationjPerforming a second decorrelation operation by the following formula to obtain a second decorrelation operation output yk
In the formula, thetakRepresents a preset threshold value of two, wjkRepresenting the weight of the second re-correlation operation.
8. The system of claim 7, wherein the object identification module further comprises:
a signal type identification submodule for outputting a first re-correlation operation zjAnd the signal feature vector Z in the database is { Z ═ Z1,z2,,zmComparing each element, judging the corresponding elementThe type is the type of the signal to be identified;
a carrier target identification submodule for outputting the second re-correlation operation ykAnd the target feature vector Y in the database is equal to { Y ═ Y1,y2,,ysComparing each element to obtain the carrier target corresponding to the same element as the carrier target to be identified.
9. The system for identifying the target signal based on the unmanned on-board rotor wing equipment and the ground equipment according to any one of claims 1-2, 5-6 and 8, wherein when the spectrum interference of the received external real-time target signal is large, the distance between the unmanned on-board rotor wing equipment and the ground equipment is not more than 2km, and the signal level received by the unmanned on-board rotor wing equipment is not more than-65 dBm;
when the frequency spectrum interference of the received external real-time target signal is small, the distance between the rotor wing unmanned airborne equipment and the ground equipment is not more than 10km, and the level of the external real-time target signal received by the rotor wing unmanned airborne equipment is not more than-75 dBm;
the forwarding frequency band adopts at least one of S section and C section.
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